A mixed finite-element method for geometrically exact beams introduces an independent moment field to support discontinuous rotations and discrete curvature while retaining objectivity and showing optimal convergence in benchmarks.
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A mixed formulation for Cosserat rod dynamics is cast as an infinite-dimensional nonlinear port-Hamiltonian system and discretized with structure-preserving finite elements to yield energy-momentum consistent time integration.
A fully discrete strain-based model for continuum robot dynamics via Lie group variational integrators, combined with an EKF-based observer for states and disturbances, validated on hardware.
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Mixed Finite Elements for Geometrically Exact Beams using Discontinuous Rotations and Discrete Curvature
A mixed finite-element method for geometrically exact beams introduces an independent moment field to support discontinuous rotations and discrete curvature while retaining objectivity and showing optimal convergence in benchmarks.
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Mixed formulation and structure-preserving discretization of Cosserat rod dynamics in a port-Hamiltonian framework
A mixed formulation for Cosserat rod dynamics is cast as an infinite-dimensional nonlinear port-Hamiltonian system and discretized with structure-preserving finite elements to yield energy-momentum consistent time integration.
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Discrete Geometric Modeling and Extended State Estimation of Continuum Robots
A fully discrete strain-based model for continuum robot dynamics via Lie group variational integrators, combined with an EKF-based observer for states and disturbances, validated on hardware.